Implementation and characterization of a multi-hop 6TiSCH network for experimental feedback control of an inverted pendulum

2017 ◽  
Author(s):  
Craig B. Schindler ◽  
Thomas Watteyne ◽  
Xavier Vilajosana ◽  
Kristofer S. J. Pister
Keyword(s):  
Feedback Control ◽  
Inverted Pendulum

Characterization of equilibrium sets for bilinear systems with feedback control

Automatica ◽  
1983 ◽  
Vol 19 (2) ◽  
pp. 183-189 ◽  
Author(s):  
A. Benallou ◽  
D.A. Mellichamp ◽  
D.E. Seborg
Keyword(s):  
Feedback Control ◽  
Bilinear Systems

Feedback Control over Noisy Channels: Characterization of a General Equilibrium

2021 ◽  
pp. 1-1
Author(s):  
Touraj Soleymani ◽  
John S. Baras ◽  
Sandra Hirche ◽  
Karl H. Johansson
Keyword(s):  
Feedback Control ◽  
General Equilibrium ◽  
Noisy Channels

Modified PD Control of Rotary Inverted Pendulum

2009 ◽  
Author(s):  
Naserodin Sepehry ◽  
Mahnaz Shamshirsaz
Keyword(s):  
Feedback Control ◽  
Inverted Pendulum ◽  
Break Point ◽  
State Feedback Control ◽  
Pd Controller ◽  
Loop Transfer Function ◽  
Full State ◽  
Full State Feedback ◽  
Rotary Inverted Pendulum ◽  
Space Method

The inverted pendulum, a classical mechatronic application, exists in many different forms. In despite that many works have been done to balance the pendulum link on end of this device using feedback control but few studies have been developed to control this rotary inverted pendulum using PD controller. In classical methods, using PD, PI or PID control, difficulties appear due to one of the coefficients becomes zero in closed loop transfer function denominator and consequently the system becomes unstable. In this study, an arbitrary pole is placed in order to create a break point in root locus, so by this way a PD controller can be designed for this new system. Also, disturbance rejection has been investigated by state space method in this paper. The results of this modified PD controller are compared with full state feedback control and optimal control, so the method used in this study has been validated.

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